Inverse Kinematics Solver for Android Faces with Elastic Skin
Magtanong Emarc · Institutional Repositories DataBase (IRDB) · 2012
propose a face segmentation method to group feature points and facial actuators.The face segmentation decreases the complexity of modeling the forward kinematics and simplifies the solution for the inverse kinematics.To validate our proposed method for solving the inverse kinematics, we implement an inverse kinematics solver for an actual android's face.Two test cases for the inverse kinematics solver are conducted.First, feature points are captured from random actuator displacements of the android's face and are used as input for the inverse kinematics solver.Next, target feature points are created manually by independently moving several feature points and are set as the input for the inverse kinematics solver.In both cases, based on the comparison of the target and controlled feature point positions, the proposed inverse kinematics solver is able to control the face of the android using target feature points.